Motion control method of hybrid hydraulic manipulator of closed chains
In view of the strong nonlinearity and low control accuracy of the hydraulic manipulator with multiple closed-chain structures,the virtual decomposition control(VDC)method was used to eliminate the error introduced by the nonlinearity of the system and improve the control accuracy.Firstly,according to the different driving modes,the whole robotic arm was decomposed into four types of structures,and it was virtually divided into each subsystem for each type of structure,and the rigid body dynamic model and hydraulic actuator fluid dynamic model were established for each subsystem.Then,based on the rigid body dynamics model and the fluid dynamics model,the rigid connecting rod control law and the hydraulic actuator control law were respectively designed,and the feedforward control and error feedback were the basis of high-precision control.Finally,the Simscape module of Simulink was used to establish a multi-physics hybrid model of the robotic arm,and the trajectory tracking effect was verified.In addition,control performance indicators were introduced,which were calculated in the hydraulic actuator space of different robot arms.The research results show that comparing with the proportion integration differentiation(PID)controller,the controller based on the virtual decomposition control theory has a greater improvement in control accuracy,and the average absolute error of a single joint is reduced by 88.9%,and the control effect is similar to the performance index of other more advanced hydraulic controllers,which proves that virtual decomposition control theory can effectively improve the control precision of hybrid hydraulic manipulator with complex closed chain structure.
rock drilling robothybrid manipulatorvirtual decomposition control(VDC)dynamic modelcontrol methodsproportion integration differentiation(PID)controller
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维普
